阅读说明：本技术 由子组件所组成的运动装置 (Movement device consisting of sub-assemblies ) 是由 J.弗兰根 于 2019-06-12 设计创作，主要内容包括：本发明涉及一种包括第一和第二组件(20、30)的运动装置(10),其中所述第一组件(20)由多个子组件(50)所组成。根据本发明,两个紧邻的子组件(50)在分界线(14)处彼此邻接,其中所提到的两个子组件(50)形成至少一个第一配对(51)的紧邻的第一永磁装置(22),所述第一永磁装置通过所述分界线(14)彼此分开,其中第一配对(51)的两个第一永磁装置(22)相对于所述分界线(14)分别以相对于分度间距(12)减小的分界间距(13)来布置,使得其彼此间具有所述分度间距(12),其中在所提到的两个子组件(50)的内部分别存在至少一个第二配对(52)的紧邻的第一永磁装置(22),所述第一永磁装置彼此间具有所述分度间距(12)。(The invention relates to a movement device (10) comprising a first and a second assembly (20, 30), wherein the first assembly (20) is composed of a plurality of subassemblies (50). According to the invention, two immediately adjacent subassemblies (50) adjoin one another at a dividing line (14), wherein the two subassemblies (50) mentioned form at least one first pair (51) of immediately adjacent first permanent magnet arrangements (22) which are separated from one another by the dividing line (14), wherein the two first permanent magnet arrangements (22) of the first pair (51) are each arranged with a reduced dividing distance (13) relative to the dividing line (14) in such a way that they have the dividing distance (12) from one another, wherein in each case there is at least one second pair (52) of immediately adjacent first permanent magnet arrangements (22) which have the dividing distance (12) from one another in the interior of the two subassemblies (50) mentioned.)

1. Movement device (10) comprising a first and a second assembly (20, 30), wherein the first assembly (20) comprises a first base (21) and a plurality of first permanent magnet devices (22), wherein the first permanent magnet devices (22) are connected to the first base (21) by means of a respectively assigned actuator (24) in such a way that they can be moved in at least one degree of freedom in relation to the first base (21) by means of the respectively assigned actuator (24)), wherein the second assembly (30) comprises a second base (31) and a second permanent magnet device (32), wherein the second permanent magnet device (32) is arranged fixedly in relation to the second base (31), wherein the first assembly (20) consists of a plurality of subassemblies (50) which respectively form assigned parts of the first base (21), wherein the subassemblies respectively comprise a plurality of first permanent magnet devices (22) with respectively assigned actuators (24),

characterized in that two immediately adjacent subassemblies (50) adjoin one another at a dividing line (14), wherein the two subassemblies (50) mentioned form at least one first pair (51) of immediately adjacent first permanent magnet arrangements (22) which are separated from one another by the dividing line (14), wherein the two first permanent magnet arrangements (22) of the first pair (51) are each arranged with a reduced dividing distance (13) relative to the dividing line (14) in each case with respect to an indexing distance (12) such that they have the indexing distance (12) from one another, wherein in each case there is an immediately adjacent first permanent magnet arrangement (22) of at least one second pair (52) in the interior of the two subassemblies (50) mentioned, which first permanent magnet arrangements have the indexing distance (12) from one another.

2. The exercise apparatus according to claim 1,

wherein the subassemblies (50) together form a seamless moving surface (25) of the first base (21) facing the second assembly (30).

3. Vehicle according to one of the preceding claims,

wherein the actuators (24) each have a single infinite degree of freedom of rotation defining a rotation axis (27), wherein the rotation axes (27) are respectively oriented substantially perpendicular to a moving surface (25) of the first base (21) such that the rotation axes intersect the moving surface, wherein the indexing distances (12) are measured at the respective intersection points.

4. Vehicle according to one of the preceding claims,

wherein the indexing separation (12) of the first and second pairs (51, 52) is measured along a common axis (X, Y).

5. The exercise apparatus according to claim 4,

there are first and second axes (X, Y) intersecting at a non-zero angle, wherein not only the first axis (X) but also the second axis (Y) is assigned at least one first pair (51) and a plurality of second pairs (52) of first permanent magnet devices (22).

6. Vehicle according to one of the preceding claims,

wherein the dividing distance (13) is equal to half the dividing distance (12).

7. Vehicle according to one of the preceding claims,

wherein a separate sub-control device (53) is assigned to each subassembly (50), to which sub-control device the actuators (24) of this subassembly (50) are connected, wherein the sub-control device (53) is at least indirectly in a data exchange connection (60).

8. The exercise apparatus in accordance with claim 7,

wherein at least one sub-control device (53) is in a data exchange connection (60) only with sub-control devices (53) arranged in immediately adjacently arranged subassemblies (50).

9. Exercise apparatus according to claim 7 or 8,

all sub-controllers (53) are in a data-exchange connection (61) with a common main controller (54).

10. Vehicle according to one of the preceding claims,

wherein a position determination device (15) is provided, wherein each subassembly (50) comprises a part (15 a) of this position determination device (15).

11. Vehicle according to one of the preceding claims,

wherein each subassembly (50) is provided with a separate cooling device (55), wherein a plurality of, preferably all, cooling devices (55) are connected to a common coolant supply (56) and/or a common coolant removal.

12. Method for operating a movement device according to claim 7 or 8,

wherein the data exchange between the sub-control means (53) is based on a constant time period.

13. Method for operating a movement device according to claim 9,

wherein data is exchanged between the subassemblies (50) within the scope of the position determination.

Technical Field

The invention relates to a movement device according to claim 1 and to two methods for operating a movement device according to claims 12 and 13. With such a movement device, it is possible to keep the second component in a floating state relative to the first component solely by magnetic forces and to move it under controlled conditions, wherein the roles of the first and second components can also be exchanged.

Background

From WO 2015/017933 a1 a movement device is known, for which a magnetic force is generated by means of an electromagnet. This results in high energy losses.

In the german patent application with the file registration number 102016224951.7, the applicant describes a completely novel movement device with which the functions known from WO 2015/017933 a1 can be achieved solely by the use of permanent magnets. As a result, much less waste heat is generated, wherein at the same time a much larger load can be kept in suspension.

An advantage of the invention is that the first component can be made very large without thereby making the manufacture of the movement apparatus significantly more difficult. The position adjustment of the second component, which is the subject of the patent application filed on the same day by the applicant, is not substantially adversely affected.

Disclosure of Invention

The movement device according to the invention differs from the movement device according to DE102016224951.7 in that two immediately adjacent subassemblies adjoin one another at a dividing line, wherein the two subassemblies mentioned form at least one first pair of immediately adjacent first permanent magnet devices, which are separated from one another by the dividing line, wherein the two first permanent magnet devices of the first pair are each arranged at a dividing distance reduced from the dividing distance with respect to the dividing line, so that they have the dividing distance from one another, wherein at least one second pair of immediately adjacent first permanent magnet devices, which have the dividing distance from one another, is present in each case inside the two subassemblies mentioned. The mentioned indexing distances are preferably used within the scope of the position adjustment of the second component for calculating the magnetic forces occurring during operation between the first and second components. The division of the first component into subassemblies according to the invention has the result that the division of the first component into subassemblies does not have to be taken into account in the context of such a calculation. The calculation is thereby significantly simplified.

During operation of the movement device, the first and second components are preferably arranged at such a small distance from one another that a magnetic force between the second permanent magnet arrangement and at least a part of the first permanent magnet arrangement can be set, which is strong enough for the two components to be separated or held in suspension against the action of gravity. The second assembly is preferably movable in such a way that the first permanent magnet means is adjustable relative to the first assembly.

The subassemblies preferably adjoin one another at the dividing line, wherein no gaps are most preferably present there.

The movement device can comprise a single first component and at least one second component, wherein the first component, in particular the first base, is arranged in a stationary manner in the sense of a stator, while the at least one second component can in turn be moved relative to the first component, so that it can be used, for example, as a workpiece carrier or transport body.

The movement device can comprise at least one first component and a single second component, wherein the second component, in particular the second base, is arranged in a stationary manner in the sense of a stator, while the at least one first component can correspondingly itself be moved relative to the second component, so that it can be used, for example, as a workpiece carrier or transport body. The component or the workpiece carrier, which is different from the stator, is preferably movable in a manner spaced apart from the stator or in a freely floating manner.

The subassemblies are preferably constructed substantially identical to one another. The distinction between the subassemblies can be made, for example, in the assignment of unambiguous identifiers, so that the subassemblies can be distinguished within the scope of the position adjustment.

The permanent magnet arrangement preferably comprises at least two magnetic dipoles which are each arranged in pairs at a fixed distance from one another and in a fixed rotational position. It is obvious here that ideal magnetic dipoles can only be achieved approximately technically. In a preferred embodiment of the invention, it is sufficient to be able to use internet addresses

The equations for the force and torque between the two magnetic dipoles, or equivalent simplified approximation equations or tables of approximation values, which can be recalled below. The permanent magnet arrangements preferably each consist of a plurality of individual magnets, which each form a unique magnetic dipole. This makes it possible to approach the mentioned formula particularly well in a simple manner.

Preferably, the actuators each have a unique degree of freedom, at most preferably an infinite degree of freedom of rotation. The actuator is preferably designed as an electric motor, at most preferably as a brushless dc motor. The first permanent magnet arrangement is preferably fixedly connected to the drive shaft of the associated electric motor. The drive shaft or its axis of rotation is preferably oriented perpendicular to the surface of movement of the first base towards the second component.

Advantageous developments and improvements of the invention are specified in the dependent claims.

It can be provided that the subassemblies together form a seamless moving surface of the first base facing the second subassembly. The running surface is formed without gaps, in particular at the dividing line. It is possible to consider that the moving surface has a greater free space, which results from the positions that can be occupied by the subassemblies not being occupied by the sub-assembly. The running surface is preferably formed flat. The running surface can be curved and extended in space without bending. The running surface can be composed of a plurality of flat sub-surfaces, each with a different orientation, which adjoin the dividing line in pairs. The running surface can be oriented perpendicular to the direction of gravity, wherein the orientation can be freely selected. In the interior of the subassembly, the running surface is preferably designed without interruption.

It can be provided that the actuators each have a single infinite degree of freedom of rotation which defines a rotational axis, wherein the rotational axes are respectively oriented substantially perpendicularly to the moving surface of the first base such that they intersect the moving surface, wherein the indexing distance is measured at the respective intersection point. This results in a precise definition of the graduation distance.

Provision can be made for the indexing distances of the first and second pairing to be measured along a common axis. Preferably the relevant dividing lines intersect the mentioned common axis.

It can be provided that there are a first axis and a second axis which intersect at a non-zero angle, wherein both the first axis and the second axis are assigned at least one first permanent magnet arrangement of a first pair and a plurality of second pairs. The advantages according to the invention therefore exist with regard to the movements associated with the two axes mentioned. The first and second axes preferably intersect at an angle of 90 °. The indexing distances associated with the first and second axes are preferably identical, it also being possible for them to be different.

It can be provided that the dividing distance is equal to half the dividing distance. All subassemblies can therefore be designed as identically as possible. Nevertheless, the same advantages as the subassemblies are mounted on top of each other according to the invention are present for obtaining a large first assembly.

It can be provided that a separate partial control device is assigned to each partial assembly, to which the actuators of this partial assembly are connected, wherein the partial control devices are at least indirectly in a data exchange connection. The partial control device preferably has a position controller, in particular a rotary position controller, for each assigned actuator. The data exchange connection can be made by wire, for example with wires or with optical fibers. It can also be done wirelessly, such as in the case of using radio waves or inductively coupled coils. The data exchange connection CAN be carried out using standardized bus protocols, such as I2C, SPI, CAN, Interbus, Profibus, etc.

It can be provided that at least one of the partial control devices is only in data exchange connection with partial control devices arranged in the immediately adjacent partial components. The resulting wiring is particularly low cost. For example, it is conceivable to arrange corresponding plug connectors on the housings of the subassemblies, which plug connectors engage in one another when the subassemblies are mounted on one another. Preferably, all the sub-controllers are in a data exchange connection as described above.

It can be provided that all the partial control units are in data exchange connection with a common main control unit. In the main control unit, control tasks are preferably executed which the partial control units cannot execute with their locally acquired or available data. In this case, for example, execution of a motion trajectory across a plurality of subassemblies may be considered.

A position determining means can be provided, wherein each subassembly comprises a part of this position determining means. The position determining means can for example be realized according to US 6615155B 2.

It can be provided that each subassembly is provided with a separate cooling device, wherein a plurality of, preferably all, cooling devices are connected to a common coolant supply and/or a common coolant removal. Therefore, waste heat generated in the actuator and/or the sub-control device can be discharged without problems. Little cooling overhead is incurred when assembling the first assembly from the subassembly. Only the coolant supply mechanism is connected.

Furthermore, a method for operating a movement device according to the invention is claimed, wherein the data exchange between the partial control devices is based on a constant time period. This makes it possible to limit the time required for the position adjustment of the second component for reacting to a fault to a maximum value. In addition, the flow of data exchange is simplified. The time periods of all sub-components are preferably synchronized.

In addition, a further method for operating a movement device according to the invention is claimed, in which data are exchanged between the subassemblies within the scope of the position determination.

It goes without saying that the features mentioned above and those yet to be explained below can be used not only in the respectively specified combination, but also in other combinations or individually, without leaving the scope of the invention.

Drawings

The invention is explained in detail below with the aid of the figures. Wherein:

fig. 1 shows a roughly schematic sectional view of a movement device according to the invention;

fig. 2 shows a roughly schematic top view of a second component;

FIG. 3 shows a roughly schematic top view of an individual subassembly; and is

Fig. 4 shows a view of the entire first assembly corresponding to fig. 3.

Detailed Description

Fig. 1 shows a roughly schematic sectional view of a movement device 10 according to the invention. The movement device 10 comprises a single first module 20 and three second modules 30, the first module 20 being formed in the form of a stationary stator, and the second module 30 being formed in the form of a movable workpiece carrier or transport body. The stator is typically constructed much larger than the workpiece carrier with respect to its moving surface 25. The assignment of the first and second components to the stator and the workpiece carrier can also be selected in reverse. The components different from the stator can be present in single or multiple times.

The first assembly 20 comprises a base 21, which is constituted by a plurality of subassemblies 50, in particular the housing thereof. The housings of the different subassemblies 50 are preferably mounted on a common base plate 16 so that the subassemblies 50 are precisely oriented with respect to each other.

In the present case, the upper side of the base 21 forms a closed, flat running surface 25 along which the second component 30 can run freely suspended. The subassemblies 50, in particular their respective housings, thus lie substantially without gaps on top of one another at the dividing line 14. In the present case, the movement surface 25 is oriented perpendicular to the direction of gravity, wherein the orientation can be freely selected. In particular, the device according to fig. 1 can be operated with a 180 ° turn. The running surface 25 can be extended in space in as free a curve as possible.

Inside the first base 21, a plurality of first permanent magnet devices 22 are arranged, which are connected to the first base 21 by means of assigned actuators 24. In each case, a plurality of first permanent magnet arrangements 22 with the respectively associated actuator 24 is arranged in each subassembly 50. The first permanent magnet arrangements 22 are preferably of identical design to one another and each comprise three first individual magnets 23, which are arranged side by side in a row parallel to the running surface 25. The first individual magnets 23 each have a magnetic field which, at least in a distance, approaches the magnetic field of a magnetic dipole. The respective dipole vectors 26 are arranged in a pattern of halbach arrays, thereby generating a particularly intense magnetic field towards the second component 30. The distance of the first permanent magnet arrangements 22 relative to the moving surface 25 is selected to be the same for all first permanent magnet arrangements 22.

The actuator 24 is designed here as an electric motor, in particular as a brushless dc motor. It therefore has a single infinite degree of freedom of rotation, with the respective axis of rotation 27 oriented perpendicular to the moving surface 25. The drive shaft of the electric motor is fixedly connected with the first single magnet 23 so that it forms a substantially rigid unit which is rotatable as a whole with respect to the associated axis of rotation 27. The axis of rotation 27 is arranged in the middle of the assigned first permanent magnet arrangement 22.

The first assembly 20 preferably comprises a plurality of first permanent magnet arrangements 22 with assigned actuators 24, which are arranged distributed in a planar grid over the moving surface 25. Reference is made to the explanations with respect to fig. 3 and 4 for further details.

The first component 20 is assigned a rectangular coordinate system 11, the first axis X and the second axis Y of which are oriented parallel to the moving surface 25, and the third axis Z of which is oriented perpendicular to the moving surface 25.

The second component 30 is formed here in the form of a workpiece carrier. Wherein it can be configured as any transport body. It comprises a second base 31, which is formed here in the form of a flat plate with a constant thickness, wherein it has a flat upper side and a flat lower side 35, 36. The upper side 35 serves to support the payload 34, wherein it can be designed as arbitrarily as possible. The underside 36 facing the first component 20 is preferably adapted to the movement surface 25, wherein in particular the underside 36 should be able to be brought into direct contact with the movement surface 25, so that the second component 30 rests stably on the first component 20, in particular in the currentless state of the movement apparatus 10.

In this case, the second base 31 has a square contour in plan view, wherein a rectangular, circular or any other contour can also be considered. The second assembly 30 comprises a second permanent magnet arrangement 32 fixedly arranged with respect to a second base 31. The second permanent magnet arrangement 32 comprises a plurality of second individual magnets 33, the magnetic field of which at least in a distance approaches the magnetic field of the magnetic dipole. A possible arrangement of the second single magnet 33 is explained in more detail with reference to fig. 2. The second individual magnet 33 is arranged as closely as possible to the underside 36, so that a strong magnetic force can be set towards the first permanent magnet arrangement 22.

Furthermore, the movement device 10 comprises a position determination device 15, which is embodied, for example, according to US 6615155B 2, wherein the position determination device is arranged partially 15a in the first component 20 and partially 15B in the second component 30. In each subassembly 50, a part 15a of the position determination device 15 is arranged. The position determination means 15 operates in an inductive manner. It comprises planar coils in the first assembly 20, which are arranged distributed over the entire moving surface 25. Further, a coil is provided in the second module 30. With this position determination means 15, for example, three position coordinates X, Y, Z of the second component 30 can be acquired with respect to the coordinate system 11, wherein in addition, for example, three euler angles (https:// de.

The arrow labeled with reference numeral 60 delineates the data exchange connection between two immediately adjacent sub-assemblies 50. Each subassembly 50 is assigned a sub-control device 53, which is formed, for example, in the form of an electronic board. In particular, the actuator 24 of the subassembly 50 and the part 15a of the position determination device arranged in the subassembly 50 are connected to the sub-control device 53. The partial control devices 53 are each situated in a data exchange connection 60 with the immediately adjacent partial control device 53. If data exchange between the sub-control devices 53 arranged farther away from each other is desired, the data exchange can be facilitated by the sub-control devices 53 arranged therebetween. Standardized bus protocols are preferably used for this purpose.

The arrow marked with reference numeral 61 delineates the data exchange connection between the main control device 54 and the sub-control device 53. For example, the main control device 54 can determine the position, which accesses the measurement data from the plurality of sub-control devices 53. Furthermore, at least a part of the position adjustment of the second assembly 30 can be performed there.

Each subassembly 50 is provided with a separate cooling device 55. The cooling device 50 should be used to remove waste heat generated in the actuator 24 and/or the sub-control device. The cooling device 55 can be configured in an air-cooled manner. The cooling device 55 can be constructed in liquid-cooled form if its cooling power is insufficient. The cooling devices 55 of the different subassemblies 50 are then preferably connected to a common coolant supply, by means of which the cooling liquid is fed or discharged.

Fig. 2 shows a roughly schematic top view of the second component 30. The plane of the drawing is oriented parallel to the lower side (reference number 36 in fig. 1) of the second component, with the viewing direction pointing towards the first component. The second single magnets 33 are arranged distributed over the entire lower side surface of the second base 31. Their dipole vectors each have one of six different possible arrangements, oriented vertically or parallel in pairs. The dipole vector of the second individual magnet 33, which is provided with the symbol according to reference numeral 33a, is directed perpendicularly away from the lower side. The dipole vector of the second individual magnet 33, provided with the symbol according to reference numeral 33b, is directed perpendicularly towards the lower side. The dipole vector of the second individual magnet 33, which is provided with the symbol according to reference numeral 33c, is directed parallel to the lower side in the direction of the arrow. The arrangement and orientation of the second individual magnet 23 is preferably selected in such a way according to a halbach array that a particularly strong magnetic field is generated towards the first component.

Furthermore, the precise arrangement of the second individual magnet 33 is rather of minor importance. Above all, the arrangement and orientation of the second single magnet 33 with respect to the second base 31 is known, so that it can be used within the scope of the position adjustment of the second assembly, in particular within the scope of the calculation of the magnetic force.

It goes without saying that instead of the second single magnet 33, a single-piece second permanent magnet arrangement magnetized in a similar manner can also be used. The second permanent magnet arrangement can be produced, for example, in a 3D printing method, wherein the corresponding plastic forms a binder for the permanent magnet particles. However, in the context of mass production, it is much easier to generate a magnetic field that can be reproduced with small tolerances and is also very strong with a single magnet. Furthermore, with a single magnet it is much easier to generate a magnetic field that can be described very approximately by the formula for an ideal magnetic dipole.

Fig. 3 shows a roughly schematic top view of an individual subassembly 50. The subassembly 50 has a square housing contour 57, the side lines of which are identical parallel to the first and second axes X, Y of the cartesian coordinate system 11. The four lateral lines of the housing contour 57 form a potential dividing line (reference numeral 14 in fig. 4) between two immediately adjacent subassemblies 50, since the subassemblies 50 can be arbitrarily mounted on top of one another on their lateral lines. It should be noted that rectangular or hexagonal housing profiles 57 can also be used.

In fig. 3, a coordinate grid 58 with thin solid lines is drawn inside the housing contour 57, which grid is oriented parallel to the coordinate system 11. In the direction of the first axis and the second axis X, Y, the coordinate grids 58 each have a constant grid spacing, which corresponds to the dividing spacing 13. The housing contour 57 coincides with a grid line of the coordinate grid 58. The axes of rotation (27 in fig. 1) of the first permanent magnet arrangements 22 are each arranged exactly at the intersection between two intersecting grid lines.

Two immediately adjacent first permanent-magnet arrangements 22 have a spacing of two grid lines, such that their graduation spacing 12 is equal to double the dividing spacing 13. The indexing spacing 12 is selected identically with respect to the first and second axes X, Y. According to this indexing distance 12, the coordinate grid 58 is occupied without gaps by the first permanent magnet arrangement 22, so that a substantially equally strong magnetic force can be set anywhere, which supports the second component in a freely floating manner.

Fig. 4 shows a view of the entire first component 20 corresponding to fig. 3. The first component 20 is composed here of six subassemblies 50, wherein the first component can be composed of any number of subassemblies 50. In the case of large-scale movement devices, it can be considered that there is free space left inside which is not occupied by the sub-assembly, so that other devices, for example machining devices for machining workpieces which are transported together with the second assembly, can be mounted there.

In fig. 4, all dividing lines between two immediately adjacent subassemblies are indicated by reference numeral 14. According to a square housing contour (reference numeral 57 in fig. 3), which is straight and oriented parallel to the assigned axes X, Y of the coordinate system 11. In the region of the dividing line 14, first permanent magnet arrangements 22 of a first pair 51 are produced, which are separated from one another by the relevant dividing line 14. These first pairs 51 also have an indexing distance 12 from one another, as do all second pairs 52 within the subassembly 50. It is therefore not necessary to take into account whether the relevant second component is located inside the subassembly 50 or just above the dividing line 14 between two subassemblies 50 within the scope of the position adjustment of the second component. The division of the first assembly 20 into sub-assemblies 50 has little effect on the movement of the second assembly relative to the first assembly 20.

List of reference numerals:

first axis of X

Y second axis

Z third axis

10 exercise device

11 coordinate system

12 division pitch

13 division spacing

14 line of demarcation

15 position determining device

15a part of the position determining means in the first assembly

15b part of a position determining device in a second component

16 bottom plate

20 first component

21 first base

22 first permanent magnet device

23 first single magnet

24 actuator

25 surface of motion

26 dipole vector

27 axis of rotation

30 second component

31 second base

32 second permanent magnet device

33 second single magnet

33a second single magnet with dipole vector facing perpendicularly away from the lower side

33b second single magnet with dipole vector directed perpendicularly to the lower side

33c second single magnet with dipole vector parallel to the lower side in the direction of the arrow

34 payload

35 upper side

36 underside

50 subassembly

51 first paired first permanent magnet arrangements

52 second pair of first permanent magnet devices

53 sub-control device

54 main control device

55 cooling device

56 Coolant supply mechanism

57 shell profile

58 coordinate grid

60 data exchange connection between sub-controllers

A data exchange connection between the main control device and the sub-control devices 61.